px4flow_i2c.h File Reference

#include "std.h"
#include "mcu_periph/i2c.h"

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Data Structures
struct	px4flow_i2c_frame
struct	px4flow_i2c_integral_frame
struct	px4flow_data

Enumerations
enum	Px4FlowStatus {   PX4FLOW_FRAME_REQ, PX4FLOW_FRAME_REC, PX4FLOW_INT_FRAME_REQ, PX4FLOW_INT_FRAME_REC,   PX4FLOW_INT_FRAME_REC_OK }

Functions
void	px4flow_i2c_init (void)
	Initialization function. More...
void	px4flow_i2c_periodic (void)
	Poll px4flow for data 152 i2c frames are created per second, so the PX4FLOW can be polled at up to 150Hz (faster rate won't bring any finer resolution) More...
void	px4flow_i2c_downlink (void)
	Downlink message for debug Copy volatile variables from the px4_i2c_frame for safety. More...

Variables
struct px4flow_data	px4flow

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Data Structure Documentation

struct px4flow_i2c_frame

Definition at line 44 of file px4flow_i2c.h.

Data Fields
int16_t	flow_comp_m_x
int16_t	flow_comp_m_y
uint16_t	frame_count
int16_t	ground_distance
uint8_t	gyro_range
int16_t	gyro_x_rate
int16_t	gyro_y_rate
int16_t	gyro_z_rate
int16_t	pixel_flow_x_sum
int16_t	pixel_flow_y_sum
int16_t	qual
uint8_t	sonar_timestamp

struct px4flow_i2c_integral_frame

Definition at line 60 of file px4flow_i2c.h.

Data Fields
uint16_t	frame_count_since_last_readout
int16_t	ground_distance
int16_t	gyro_temperature
int16_t	gyro_x_rate_integral
int16_t	gyro_y_rate_integral
int16_t	gyro_z_rate_integral
uint32_t	integration_timespan
int16_t	pixel_flow_x_integral
int16_t	pixel_flow_y_integral
uint8_t	qual
uint32_t	sonar_timestamp

struct px4flow_data

Definition at line 75 of file px4flow_i2c.h.

Collaboration diagram for px4flow_data:

Data Fields
uint8_t	addr
bool	compensate_rotation
struct px4flow_i2c_frame	i2c_frame
struct px4flow_i2c_integral_frame	i2c_int_frame
enum Px4FlowStatus	status
float	stddev
struct i2c_transaction	trans
bool	update_agl

Enumeration Type Documentation

enum Px4FlowStatus

Enumerator
PX4FLOW_FRAME_REQ
PX4FLOW_FRAME_REC
PX4FLOW_INT_FRAME_REQ
PX4FLOW_INT_FRAME_REC
PX4FLOW_INT_FRAME_REC_OK

Definition at line 36 of file px4flow_i2c.h.

Function Documentation

void px4flow_i2c_downlink

(

void

)

Downlink message for debug Copy volatile variables from the px4_i2c_frame for safety.

Definition at line 264 of file px4flow_i2c.c.

References DefaultChannel, DefaultDevice, px4flow_i2c_frame::flow_comp_m_x, px4flow_i2c_frame::flow_comp_m_y, get_sys_time_float(), px4flow_i2c_frame::ground_distance, px4flow_i2c_integral_frame::ground_distance, px4flow_data::i2c_frame, px4flow_data::i2c_int_frame, px4flow_i2c_integral_frame::pixel_flow_x_integral, px4flow_i2c_frame::pixel_flow_x_sum, px4flow_i2c_integral_frame::pixel_flow_y_integral, px4flow_i2c_frame::pixel_flow_y_sum, px4flow, PX4FLOW_I2C_ID, px4flow_i2c_frame::qual, and px4flow_i2c_integral_frame::qual.

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void px4flow_i2c_init

(

void

)

Initialization function.

Definition at line 134 of file px4flow_i2c.c.

References px4flow_data::addr, px4flow_data::compensate_rotation, I2CTransDone, init_median_filter_i(), px4flow, PX4FLOW_FRAME_REQ, PX4FLOW_INT_FRAME_REQ, sonar_filter, px4flow_data::status, i2c_transaction::status, px4flow_data::stddev, px4flow_data::trans, and px4flow_data::update_agl.

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void px4flow_i2c_periodic

(

void

)

Poll px4flow for data 152 i2c frames are created per second, so the PX4FLOW can be polled at up to 150Hz (faster rate won't bring any finer resolution)

Definition at line 155 of file px4flow_i2c.c.

References px4flow_data::addr, i2c_transaction::buf, px4flow_i2c_frame::flow_comp_m_x, px4flow_i2c_frame::flow_comp_m_y, px4flow_i2c_frame::frame_count, px4flow_i2c_integral_frame::frame_count_since_last_readout, px4flow_i2c_frame::ground_distance, px4flow_i2c_integral_frame::ground_distance, px4flow_i2c_frame::gyro_range, px4flow_i2c_integral_frame::gyro_temperature, px4flow_i2c_frame::gyro_x_rate, px4flow_i2c_integral_frame::gyro_x_rate_integral, px4flow_i2c_frame::gyro_y_rate, px4flow_i2c_integral_frame::gyro_y_rate_integral, px4flow_i2c_frame::gyro_z_rate, px4flow_i2c_integral_frame::gyro_z_rate_integral, px4flow_data::i2c_frame, px4flow_data::i2c_int_frame, i2c_transceive(), i2c_transmit(), I2CTransSuccess, idx, px4flow_i2c_integral_frame::integration_timespan, px4flow_i2c_integral_frame::pixel_flow_x_integral, px4flow_i2c_frame::pixel_flow_x_sum, px4flow_i2c_integral_frame::pixel_flow_y_integral, px4flow_i2c_frame::pixel_flow_y_sum, px4flow, PX4FLOW_FRAME_REC, PX4FLOW_FRAME_REQ, PX4FLOW_I2C_FRAME, px4flow_i2c_frame_cb(), PX4FLOW_I2C_FRAME_LENGTH, px4flow_i2c_int_frame_cb(), PX4FLOW_I2C_INTEGRAL_FRAME, PX4FLOW_I2C_INTEGRAL_FRAME_LENGTH, PX4FLOW_INT_FRAME_REC, PX4FLOW_INT_FRAME_REC_OK, PX4FLOW_INT_FRAME_REQ, px4flow_i2c_frame::qual, px4flow_i2c_integral_frame::qual, px4flow_i2c_frame::sonar_timestamp, px4flow_i2c_integral_frame::sonar_timestamp, px4flow_data::status, i2c_transaction::status, and px4flow_data::trans.

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Variable Documentation

struct px4flow_data px4flow

Definition at line 52 of file px4flow_i2c.c.

Referenced by px4flow_i2c_downlink(), px4flow_i2c_frame_cb(), px4flow_i2c_init(), and px4flow_i2c_periodic().